一类控制方向未知的非线性系统的输出调节

Output regulation of a class of nonlinear systems with an unknown control direction

非线性系统高频增益的符号表示控制方向,在实际问题中难以精确测量.为了研究控制方向未知的一类具有非线性外部系统的不确定非线性系统全局鲁棒输出调节问题,通过设计一个内模系统将鲁棒输出调节问题转化为鲁棒稳定性问题,结合Nussbaum动态增益技术、自适应控制方法、鲁棒稳定性提出了一种动态输出反馈控制器.仿真结果验证了所提出控制器的有效性.

The sign of the high-frequency gain of a nonlinear system provides the control direction, which cannot be precisely measured in solving actual problems. In this paper, a global robust output regulation problem of a class of uncertain nonlinear systems with an unknown control direction and a nonlinear exosystem was considered. Through an internal model, the robust output regulation problem was converted into a robust stabilization problem. Furthermore, a dynamic output feedback controller was designed by combining the procedures from the Nussbaum gain technique, adaptive control method, and robust stabilization technique. Simulation results validate the effectiveness of the proposed controller.